ros 话题订阅

ros 话题订阅

环境搭建就跳过了，假设你已经学会了编译运行了

1.发布端代码

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sstream"

int main(int argc, char *argv[])
{
    /* code */
    //set code use chinese
    setlocale(LC_ALL,"");
    //ros init
    ros::init(argc,argv,"gRos1");
    //
    ros::NodeHandle handle1;

    //3.实例化 ROS 句柄
    ros::NodeHandle ghd;//该类封装了 ROS 中的一些常用功能

    //4.实例化 发布者 对象
    //泛型: 发布的消息类型
    //参数1: 要发布到的话题
    //参数2: 队列中最大保存的消息数，超出此阀值时，先进的先销毁(时间早的先销毁)
    ros::Publisher pub = ghd.advertise<std_msgs::String>("connect1",10);

    //5.组织被发布的数据，并编写逻辑发布数据
    //数据(动态组织)
    std_msgs::String msg;

    //set time 10times/1s
    ros::Rate tim(10);

    int cout;

    //delay to ensure set the connect
    ros::Duration(3.0).sleep();

    //ensure the ros is available
    while(ros::ok())
    {
        //set the send msg
        std::stringstream sendStr;
        cout++;
        sendStr<<"sendStr num->"<<cout;
        msg.data=sendStr.str();
        //send msg
        pub.publish(msg);
        //send the debug info
        ROS_INFO("send text and num=%d\n",cout);
        //ros-sleep
        tim.sleep();
        //change mission
        ros::spinOnce();
    }
    
    
    return 0;
}

2.接收端测试

在这里我们先不写接收端代码
使用命令测试

rostopic echo connectName

其中connectName是你建立的通道名字
临时测试效果：

3.接收端代码

#include "ros/ros.h"
#include "std_msgs/String.h"

void reCallFun(const std_msgs::String::ConstPtr& msgPtr)
{
    ROS_INFO("recStr:%s",msgPtr->data.c_str());
}

int main(int argc, char *argv[])
{
    /* code */
    //set code use chinese
    setlocale(LC_ALL,"");
    //ros init
    ros::init(argc,argv,"gRos2");
    //
    ros::NodeHandle handle1;

    //实例化 订阅者 对象
    ros::Subscriber sub = handle1.subscribe<std_msgs::String>("connect1",10,reCallFun);

    //循环读取接收的数据，并调用回调函数处理
    ros::spin();
    
    
    return 0;
}

4.全部改完记得修改CMakeLists.txt

add_executable(${PROJECT_NAME}_node src/demo01_node.cpp)
add_executable(demo01_rec
src/demo01_rec.cpp
)
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)
target_link_libraries(demo01_rec
  ${catkin_LIBRARIES}
)

5.测试效果